Abstract: A technique is disclosed for generating an acceleration profile indicative of a time history of an acceleration of a controlled object, to thereby generate at least one of a target velocity profile indicative of a time history of a target velocity of the controlled object and a target position profile indicative of a time history of a position of the controlled object. This technique includes: storing in a storage, a duration of a non-constant-velocity phase during which the target velocity of the controlled object varies with time; and generating the acceleration profile, based on the duration of the non-constant velocity phase stored in the storage, such that a portion of the acceleration profile which corresponds to the non-constant-velocity phase is generally curved.

Abstract: A system and method for limiting peak power demand of a controller (26) for an electromechanical actuator A motor current command is limited to at least one of a positive current limit or a negative current limit, the positive and negative current limits being a function of motor velocity. A motor drive signal is output to the motor in accordance with the limited motor current command.

Abstract: Methods for controlling at least two actuators are provided. An internal control system sends an input received from the main control system to a first actuator and diverts a portion of the input to a second actuator when an input constraint of the first actuator is reached. The actuators may be throttle valves for heating a hydraulic line. The internal control system includes a cutoff rerouter for implementing the sending and the diverting of the input and an adaptive cutoff controller, e.g., an integral controller, for determining the input constraint of the first actuator.

Abstract: Arrangements and methods for implementing a “spin-down policy” for HDD motors that is “smart”, flexible and admirably achieves an objective of ensuring prolonged motor life as just discussed. To this end, one specific implementation involves (among other things) the addition of a dedicated cache that acts as a buffer element of sorts for writing or obtaining data during a period when a motor may be spun down, especially (but not necessarily exclusively) in instances when a notebook needs to be running for a large portion of the day. Other analogous implementations are of course possible that would achieve similar ends.

Abstract: Optical disc drives designed for reduced power consumption switch the supply voltage in three stages between first, second, and third power supplies. The reduction in power consumption that is possible in the focusing and tracking drive circuits with three stage switching control is limited. This drive apparatus enables further reductions in power consumption. A drive output tracking signal is generated according to the drive conditions of the focusing or tracking drive circuit. The drive output tracking signal is applied to the drive circuit power supply, and the power supply is controlled according to the drive output tracking signal. A power supply change detector detects sudden changes in the drive output tracking signal, and inputs the detection signal to the DSP controlling the entire system. The DSP determines whether to improve the power supply response by comparison with predetermined conditions, and returns the result to the power supply.

Abstract: An integrated motor device with driver circuitry and method of setting and reading configuration parameters of the driver circuitry uses configuration data embedded in driver control signals to set at least one configuration parameter of the driver circuitry.

Abstract: A servo control system having a proportional (P) or a proportional plus integral (PI) position controller, which output signal represents an input speed reference signal for a speed close loop system with a speed controller detecting a speed deviation, derived from a speed feedback loop, which output signal represents an input current reference signal for a current close loop system with a current controller detecting a current deviation, derived from a current feedback loop, which controls an amount of the current flowing through a motor.

Abstract: A circuit is adapted to activate a writer head of a data storage media drive during both the boost periods as well as the steady state periods. The current supplied to the writer head during the boost periods exceeds the steady state current and flows between positive and negative voltage supplies so as to provide the required magnetic flux change in the inductor disposed in the write head. During the steady state periods, a switch circuit is turned on to provide a second current path across the writer head. During the steady state periods, the current flows between the positive voltage supply and the ground to reduce power consumption. The switch circuit is turned off during the boost periods.

Abstract: When performing numerical control of a rotary table, the moment of inertia and the center of gravity of a control target change because of a placed object fixed onto the rotary table. A rotary table to which a placed object has been fixed serves as a target plant, the actual motion of this is compared with motion calculated by an identification model of the target plant, and a torque command value is corrected. The identification model comprises a term pertaining to angular acceleration and a term pertaining to angle of rotation, and by including the term pertaining to angle of rotation, correction of a torque command corresponding to a change in the center of gravity can be performed.

Abstract: A DC motor phase estimation algorithm that estimates a speed-related harmonic frequency of a DC motor current under dynamic load conditions having known geometry parameters. The algorithm estimates the phase and magnitude of a complex coefficient in a complex single frequency adaptive filter that receives a primary signal from the motor current and estimates a reference signal using an incident frequency by adapting the complex coefficient to match the magnitude and phase of the speed-related harmonic component of the primary signal. The rate of change of the phase of the complex coefficient is determined by a phase-lock loop coupled to the adaptive filter to adapt a dynamic incident frequency corresponding to a single frequency component of interest in the primary signal. The incident frequency is extracted, and the motor speed is estimated using the extracted incident frequency and the known motor geometry parameters.

Abstract: A motion-control system includes an operator interface with an operator-input member and a controllable force feedback device drivingly connected to the operator-input member. The motion-control system may also include controls that regulate the motion of one or more moveable components, including adjusting a first operating parameter in a manner that depends at least in part on a control error between a target value of a second operating parameter and an actual value of the second operating parameter. The target value of the second operating parameter may be based at least in part on the motion of the operator-input member. The controls may also operate the controllable force feedback device to provide feedback force on the operator-input member in a manner that depends at least in part on the control error and such that the derivative of the feedback force with respect to the control error varies dependent at least in part on the control error.

Abstract: Methods, control systems, and information handling systems for controlling at least two actuators are provided. An internal control system sends an input received from the main control system to a first actuator and diverts a portion of the input to a second actuator when an input constraint of the first actuator is reached. The actuators may be throttle valves for heating a hydraulic line. The internal control system includes a cutoff rerouter for implementing the sending and the diverting of the input and an adaptive cutoff controller, e.g., an integral controller, for determining the input constraint of the first actuator. The information handling systems include a determination logic for determining if an input received from the main control system is greater than an input constraint of the first actuator and a diverting logic for diverting a portion of the input to a second actuator when the input is greater.

Abstract: A disc drive controller circuit for an actuator receives reference data indicating a desired actuator position “?d”, error data indicating a difference “e” between the desired actuator position and a sensed actuator position “?”, and adaptive parameter data “”. The controller circuit calculates a circuit output “u” that drives the actuator. The controller circuit derives the circuit output “u” according to a formula: A ^ ? ( ? ¨ d + 2 ? ? ? ? ? e . + ? 2 ? e ) + k ? ( e . + 2 ? ? ? ? ? e + ? 2 ? ? 0 t ? e ? ? ? ? ) in which “?” is a controller zero value and “k” is a controller gain value and “t” is time. The adaptive parameter  is updated in general accordance with the formula: Â(k)=e1e2?t+Â(k?1).

Abstract: The lead or lag relationship between the stator and rotor of a stepper motor is monitored on a continuing basis by an incremental encoder, in feed-back relation, and adjusts the lead or lag to within optimum range values to thereby prevent motor stalls and motor cogging.

Abstract: An active user interface assembly includes a user interface, and one or more feedback motors coupled to the user interface. The one or more feedback motors, when energized, supply a feedback force to the user interface that opposes user interface movement. One of the feedback motors is disposed such that its center of gravity is located at a position relative to the user interface to mass balance the user interface when it is in the null position. The configurations allow for the center of gravity of a feedback motor to be positioned in a manner that alleviates the need for counterbalance weights.

Abstract: A method for autonomously identifying a type of motor based on a characteristic value of the motor, the method including measuring a characteristic value of a motor, comparing the measured characteristic value to a known characteristic value, and identifying the motor based on the measured characteristic value when compared to the known characteristic value.

Abstract: It is an object of the invention to provide a motor control apparatus capable of ensuring a control function even for a large inertia moment ratio.

Abstract: Systems and methods for controlling a rotating electromagnetic machine. The rotating machine, such as a permanent magnet motor or hybrid switched reluctance motor, includes a stator having a plurality of phase windings and a rotor that rotates relative to the stator. A drive is connected to the phase windings for energizing the windings. A controller outputs a control signal to the drive in response to an input demand such as a demanded speed or torque. Control methods (which can be implemented separately or in combination) include varying the gain of an estimator as a function of a demanded or estimated speed to position control system poles at desired locations, decoupling control system currents to achieve a constant torque with motor speed, compensating flux estimates of the estimator for saturation operation of the stator, estimating rotor position using averages of sample values of energization feedback, and calculating a trim adjusted speed error from a plurality of speed estimates.

Abstract: A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

Abstract: A method and device for controlling a movement of a movable machine element of a machine tool or production machine with at least two drive axles are disclosed. At least one mechanical characteristic frequency is determined for each drive axle of the machine, and the lowest mechanical characteristic frequency is selected from the determined mechanical characteristic frequencies. For each drive axle of the machine, desired values are supplied to a control unit associated with the drive axle, whereby the desired values of the drive axles having a mechanical characteristic frequency higher than the lowest mechanical characteristic frequency are time-delayed. The disclosed method and device modify a method referred to as “Input Shaping” so that geometrically linked drive axles can be operated simultaneously.

Abstract: The invention relates to an electromotive actuator and a corresponding circuit in order to replace a pneumatical actuator system in a simple manner by an electric system.

Abstract: The steering angle of a vehicle is monitored using position sensors of an electric motor of an electric power assisted steering (EPAS) system. A position of the electric motor corresponding to the straight-ahead, center position of the steering system is stored in non-volatile memory during a steering calibration procedure, such as an end-of-line calibration in a vehicle assembly plant. Following power loss due to a dead battery, a steering angle zeroing procedure performed in a vehicle stability control (VSC) system generates a center position with enough accuracy to be within one electrical cycle of the motor. The pre-stored electric motor position is then used to determine the electrical cycle where the center position was located, and accurate monitoring of steering angle is resumed.

Abstract: An angular velocity measuring device (1) includes a first sensor (2) (vibration gyro) and a second sensor (3) (gas rate gyro). The detection output of the first sensor (2) is inputted to a high pass filter (4). Output of the filter (4) is stored and held in time series in a memory (10). Subtraction processing means (11) successively executes processing of subtracting the output of the filter (4) ?v?(t?tsd) before a predetermined time tsd from the output of the filter (4) ?v?(1). The value thus obtained is successively added to the output of the second sensor (3) ?g(t) by addition processing means (12) so as to obtain the measurement value of the angular velocity. Thus, it is possible to provide an angular velocity measuring device capable of giving an angular velocity measurement value having a high response and stability at a reasonable cost.

Abstract: Methods of tuning a notch filter to remove resonant frequency components from an output signal of a vibration sensor. Some methods according to the invention include exciting the vibration sensor with an excitation signal including energy in a frequency band that may include a resonant frequency of the vibration sensor, measuring the output signal of the vibration sensor in response to the excitation signal, detecting a frequency component of the output signal that corresponds to the resonant frequency of the vibration sensor, and configuring the notch filter to attenuate the detected frequency component.

Abstract: The invention provides for the monitoring and control of a system, such as a linear electro-mechanical transducer, e.g. a linear electric motor, particularly when driven in a reciprocating manner. A dynamic model of the linear motor and its load is used to calculate from the input drive to the motor a predicted response of the motor. The predicted response is compared to a measured response and the model parameters are varied by global optimisation until the two match as closely as desired. The drive may be the voltage input to the electrical motor and the response may be the electrical current in the motor coils. The parameters and variables of the model, after optimisation, can be taken as good estimates of the actual operating parameters and variables of the linear motor. This gives a measurement of such quantities as the stoke and offset of the linear motor. The invention is particularly applicable to the use of linear motors to drive compressors, for instance in Stirling cycle coolers.

Abstract: A method is for compensating for a rotor angle deviation of a motor, which may be used as an actuator, e.g., as a servo actuator, in a steering system. The rotor angle deviation is compensated for by a piecewise linearized control of the difference between a desired rotor angle, which is based on a manual torque and a stored rotor angle, and a measured rotor angle, a control factor of the control being variable as a function of the control range.

Abstract: A method for optimizing an industrial process data is disclosed. The method includes collecting data from a plurality of sensor elements, wherein each sensor element collects data from a portion of the industrial process and verifying the data collected. The method further includes analyzing the data collected for efficiency and generating at least one recommendation for optimizing the industrial process. The method further includes presenting the at least one recommendation generated to an administrator of the industrial process.

Abstract: Method and apparatus for control object manipulation from an initial position to a final position. A jerk control profile describes a near time-optimal jerk trajectory for the control object and includes a sequence of first, second and third sinusoidal pulses of respectively alternating polarity and common absolute magnitude. The area of the second pulse is nominally equal to the combined area of the first and third pulses, and the pulses are preferably symmetric about the respective maximum pulse values. Associated control profiles (control voltage, current, velocity, displacement, etc.) are derived from the jerk control profile. For longer seeks, constant, non-zero jerk segments are inserted into the profile between the pulses, during which control voltage is maintained near saturation. The control object preferably comprises a transducer in a data storage device and the jerk control profile is stored in a memory location of the device.

Abstract: The invention concerns a method and a corresponding device for monitoring a technical installation. The invention is characterized in that a dynamic model of at least one system of the technical installation is enhanced by means of an artificial intelligence based algorithm during the operation of said system.

Abstract: A position control device for causing a position of a control system, including a servomotor and a moving body driven by the servomotor, to track a command value. The position control device includes a sliding mode controller for receiving command position r and state variable x of the control system and for providing a control input u to the servomotor. State variable x is expressed as follows: x = [ ? ? . ] , where ? is feedback position and {dot over (?)} is feedback velocity. The position control device also includes a disturbance variable compensator for compensating control input u based on feedback velocity {dot over (?)}.

Abstract: Disclosed is a controller for restraining vibration of a driven element driven by a servomotor. The driven element driven by the servomotor is provided with acceleration detecting means. A correction value is obtained by multiplying a detected acceleration value detected by the acceleration detecting means by a coefficient. Correction is made by subtracting the correction value from a velocity command, and velocity feedback control is executed in a velocity control processing section to obtain a current command. Further, the servomotor is driven by current control processing, whereupon the driven element is moved. If the detected acceleration value is increased by vibration of the driven element, the velocity command is corrected to restrain the vibration, so that the vibration of the driven element can be restrained.

Abstract: A control device for controlling the motion of a movable part in a machine while suppressing vibration generated in the movable part. The control device includes a state-variable estimating section for estimating a state variable of a controlled system in the machine and outputting an estimated state variable; a reference model for outputting an ideal controlled variable for the controlled system; a compensator for calculating a compensation value for correcting a control input for the controlled system, based on a difference between the estimated state variable and the ideal controlled variable; and a feedback control section for determining the control input, based on a deviation between a desired command value and one of the estimated state variable and the ideal controlled variable.

Abstract: A method and apparatus for compensating for the asymmetrical phases of a spindle motor in a disc drive are provided. With the apparatus and method, compensation values are learned by sampling speed data during a period of operation of the disc drive where the speed is stable and only one control operation is performed per revolution of the disc. The sampled speed data is used to generate the compensation values for each of the phases of the spindle motor. The compensation values are stored in a compensation mechanism which is used by the spindle motor speed controller to provide compensation for the asymmetrical phases of the spindle motor. During Normal operation, the actual speed output of the spindle motor is measured and is subtracted from a reference speed to generate a difference speed value. Based on the corresponding electrical phase, the correct compensation value is fetched and is subtracted from the difference speed value to obtain a compensated difference speed value.

Abstract: A method for controlling a voltage mode controlled electric machine comprising: receiving a torque value representative of a desired torque; obtaining a speed value indicative of a rotational velocity of the electric machine; acquiring a phase advance value indicative of a desired phase advance angle; generating a voltage command responsive to the torque value, the position value; the generating is responsive to the torque value, the speed value, and the phase advance value.

Abstract: An adaptive feed forward controller inserts signals into control loops of an optical disc player and/or recorder at a frequency of the rotation of the disc and one or more harmonics thereof, while at the same time maintaining the stability of the control loops. This makes the control loops more responsive to harmonic components of eccentric and/or tilt motion of a track being followed, a characteristic of poor quality optical discs. The quality of playback or recording such discs is thereby improved. Signal processing forming the control loops including the adaptive feed forward controller is carried out by a software controlled processor on an integrated circuit chip within the optical disc instrument. A signal representing the frequency of rotation of the disc, which is used in the signal processing, can be derived from the control loop rather than by directly measuring rotation with a transducer in the rotating system.

Abstract: The invention aims to reduce an error occurring due to the mounting condition of an acceleration sensor. In the case of a two-axis sensor, an angle ? is calculated from outputs (x?, y?) that the acceleration sensor produces when known accelerations (x, y) are applied, and the angle ? is stored in a storage device contained in a casing in which the acceleration sensor is housed. In the case of a one-axis sensor, the ratio of the magnitudes of accelerations is stored. The acceleration detected by the acceleration sensor is compensated by using the value stored in the storage device.

Abstract: A system and method for establishing estimated values of electrical parameters of a motor. The electrical parameters may be established from stator resistance data and motor data obtained at a single load on the motor. The electrical parameters also may be established without stator resistance data by using motor data at three load conditions of the motor. The electrical parameters also may be established from baseline motor data and motor data obtained at a desired operating load of the motor. Based on the estimated values, the system and method also may be used to estimate motor operating parameters, such as torque, efficiency, output power, output speed, and other performance criteria of the motor.

Abstract: A method for stabilizing machine processes in which the machines are regulated by a machine regulation matrix selected from a plurality of machine regulation matrixes using a detected machine sensor value, set-point values of the machines being stored in each machine regulation matrix. A process is optimized according to a predefined criterion by also using some of the machine sensor values such that a machine regulation matrix which is optimal according to the process optimization is determined from the plurality of machine regulation matrixes and is subsequently used for regulating the machines.

Abstract: An apparatus for use with a signal generator and a motor controller includes a velocity compensator, an adjustor, and a velocity regulator. The signal generator provides a reference velocity signal, and the motor controller receives an output signal and uses the output signal to control a torque input signal applied to the motor. The velocity compensator is operable to receive the reference velocity signal, determine a derivative of the reference velocity signal, and generate a velocity compensation signal based on the derivative. The adjustor is operable to adjust the reference velocity signal as a function of the velocity compensation signal. The velocity regulator is operable to compare the adjusted reference velocity signal to a feedback velocity signal and generate the output signal received by the motor controller for adjusting the torque input signal based on the comparison.

Abstract: In accordance with a first preferred embodiment, a control method comprises monitoring a position of a motion control axis and controlling an output device responsive to the position of the motion control axis. The controlling step further includes latching a cam element that controls the output device, and unlatching the cam element that controls the output device. The manner in which the latching step is performed and the manner in which the unlatching step is performed are configurable in a programming interface. The programming interface is capable of receiving a latch position for the cam element and an unlatch position for the cam element. The programming interface is further capable of receiving additional configuration information to configure the manner in which the latching step is performed and different additional configuration information to separately configure the manner in which the unlatching step is performed.

Abstract: The response process of disturbance recovery control is divided into a follow-up phase, a convergence phase, and a stable phase. A feedback control device includes a first phase switching unit (3) which switches to the follow-up phase, a second phase switching unit (4) which switches to the convergence phase, a third phase switching unit (5) which switches to the stable phase, a first manipulated variable determining unit (6) which outputs a manipulated variable which makes the controlled variable follow up the set point in the follow-up phase, a second manipulated variable determining unit (7) which outputs a manipulated variable which makes the controlled variable converge near the set point in the convergence phase, and a third manipulated variable determining unit (8) which outputs a manipulated variable which makes the controlled variable stable at the set point in the stable phase.

Abstract: A system and method for specifying and satisfying move constraints when performing a motion control sequence. One or more motion control operations may be included in a sequence in response to user input. User input specifying one or more move constraints for a first motion control operation in the sequence may be received to a graphical user interface. When the motion control sequence is subsequently performed, the first motion control operation may be performed in such a way that the one or more specified move constraints are satisfied. The specified move constraints preferably do not cause the trajectory of the first motion control operation to be altered.

Abstract: A motor control device comprises: a current limiter 115 for limiting a current-instruction signal Ir for a motor 18 and for turning a limiting signal L from off to on when the current-instruction signal Ir reaches a predetermined value; a model-position-generating part 220 having a model of an equivalent position-control system that includes characteristics of the motor control device 100 and a control target object, and calculating rotational position of the motor 18 as a model-position signal ?m by inputting to the model a position-instruction signal ?r; a correctional acceleration-generating part 240 for generating a correctional acceleration signal ?se based on a correctional position deviation ?se when the limiting signal L turns on; and a position-instruction-generating part 260 for generating the position-instruction signal ?r based on an acceleration deviation ?r that is equal to the difference between the original-acceleration-instruction signal Va and the correctional acceleration signal ?se.

Abstract: A method for estimating load inertia and system for controlling motor speed using inverse model are provided, suitable for an alternating current (AC) servo module. An inverse system is connected to an actual system to inversely deduce a substantial torque output, wherein when the value of the speed signal generated by the actual system gradually increases, a net inertia ratio is accumulated; whereas when the value of the speed signal generated by the actual system increases to a fixed value, the net inertia ratio is updated.

Abstract: A device of controlling an operation of a robot apparatus having at least a plurality of movable units includes a driver driving the movable units, a determiner determining states of the movable units or a state of the robot apparatus, a plurality of abnormal state detectors detecting abnormal states and performing overcoming operations on the abnormal states on the basis of the determination results determined by the determiner, and an abnormal state controller causing the abnormal state detections and the overcoming operations to be concurrently performed by the plurality of abnormal state detectors.

Abstract: Ascertaining through integration a bias calibration level for a current control loop of a driver motor of a tape drive. The driver motor includes a current controller having as inputs a demand signal, a bias signal, and a feedback signal. The current controller includes an integrator coupled to the output. The method includes setting the demand signal to a zero current level, setting the bias signal to a level that substantially prevents the integrator from driving itself high, stepping down the bias signal to form a stepped down bias signal, measuring a sense parameter at the output of the current controller, determining whether the sense parameter is high for the stepped down bias signal, and setting the bias calibration level to a level sufficiently above the stepped down bias signal such that the integrator is not driven high when the demand signal is set to the zero current level.

Abstract: A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

Abstract: Method and apparatus for accelerating a multi-phase motor having a rotatable rotor is disclosed. A first commutation state in which the rotor resides is identified, a first position of the rotor within the first commutation state is determined (preferably within one to two electrical degrees), and a travel distance for the rotor to advance from the first position to a second position is determined. An optimized activation time is next determined for utilizing substantially all available motor torque, and a first drive pulse is applied for the activation time to advance the rotor to the second position. The process is repeated until an intermediate velocity is reached, after which back electromotive force (bemf) commutation is used for control of the motor. The apparatus includes a controller programmed with routines that utilize speeds and accelerations of the motor in accordance with basic Newtonian laws to determine optimized activation times.

Abstract: A motion controller for maintaining a controlled system on a switching hyperplane regardless of the magnitude of disturbance. The motion controller includes a target position generator, a sliding mode controller, a disturbance observer and a state observer. The target observer generates a target position to the sliding mode controller based on position and velocity data. The state observer estimates the state of the controlled system and provides the state to the sliding mode controller. And, the disturbance observer provides an estimated disturbance to the sliding mode control. The sliding mode controller generates a control input to the controlled system with the nonlinear component set to equal the negative estimated disturbance and the linear component based on the estimated state and target position.

Abstract: Force feedback in large, immersive environments is provided by device which a gyro- stabilization to generate a fixed point of leverage for the requisite forces and/or torques. In one embodiment, one or more orthogonally oriented rotating gyroscopes are used to provide a stable platform to which a force-reflecting device can be mounted, thereby coupling reaction forces to a user without the need for connection to a fixed frame. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt. In an alternative embodiment, a reaction sphere is used to produce the requisite inertial stabilization. Since the sphere is capable of providing controlled torques about three arbitrary, linearly independent axes, it can be used in place of three reaction wheels to provide three-axis stabilization for a variety of space-based and terrestrial applications.